Compact needle manipulator for targeted interventions

Abstract

Embodiments of an instrument manipulator are disclosed. An instrument manipulator can include a track; a translational carriage coupled to ride along the track; a shoulder yaw joint coupled to the translational carriage; a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint, and a shoulder pitch mechanism coupled to the arm; a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint and a differentially driven pitch-roll joint; and an instrument mount coupled to the wrist. The various joints and carriages can be driven by motors.

Description

RELATED APPLICATIONS[0001]This application claims priority to U.S. Provisional Patent Application Ser. No. 61 / 599,339, filed on Feb. 15, 2012, which is herein incorporated by reference in its entirety.TECHNICAL FIELD[0002]Embodiments of the present invention are related to a robotic manipulator that delivers a needle through the perineum.DISCUSSION OF RELATED ART[0003]Each year 1.5 million core needle biopsies are performed, yielding several hundred thousand new cases of prostate cancer. In many cases, early detection of the cancer results in higher efficacy of the treatment methods utilized.[0004]Further, MRI-guided needle based therapies (biopsies, localized laser ablations, delivery of implantable seeds utilized in low-dose-rate (LDR) permanent brachytherapy, which is a common treatment for prostrate cancer, or other treatment) have been demonstrated to be successful. However, manipulation of the needle in the confined space afforded by the typical MRI instrument has proven chall...

AI Technical Summary

Benefits of technology

The present invention describes an instrument manipulator that can accurately position and move medical instruments. The instrument manipulator has a track and a translational carriage that moves along the track using a linear motor. It also has a shoulder yaw joint that is actuated by a shoulder yaw motor, a shoulder pitch joint with an arm and a wrist mount, and a yaw-pitch-roll wrist that includes a yaw joint and a differentially driven pitch-roll joint. The instrument mount on the yaw-pitch-roll wrist has instrument motors to provide an instrument drive. The technical effects of this invention are a more robust and precise instrument manipulator that can help healthcare professionals safely and efficiently perform surgeries and procedures.

Problems solved by technology

However, manipulation of the needle in the confined space afforded by the typical MRI instrument has proven challenging.

However, these methods do not provide the dexterity and power that is sought in such an environment.

The TRUS procedure has proven not to be very accurate for tumor localization.

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